Driving_over_step.

xls
To estimate ability of a vehicle to get over an obstacle
Last modified 12/29/04 by Alex Slocum
Enters numbers in BOLD, Results in RED

Lcg Y Y Lcg

D D

  X
hcg hcg
X
Lw h h
Lw

 Rw  Fw Rw Fw

mg
F Tr mg F Nf FNr
F Tf FTr FTf
F Nr FNf

System
Rear wheel diameter, Drw (mm) 150
Front wheel diameter, Dfw (mm) 150
Distance between wheels, Lw (mm) 700
Distance center of front wheel to center of gravity, Lcg (mm) 500
Step height, h (mm) 25
Contact angle, theta (deg, rad) 48.2
Machine mass, m (kg) 50
Machine weight, mg (N) 490
Rear wheel coefficient of friction, murw 0.4
Front wheel coefficient of friction, mufw 0.4
Maximum total drive torque applied to both rear wheels, grw (N-mm) 7000
Maximum total drive torque applied to both front wheels, gfw (N-mm) 7000
for FWD gf = 1 and gr = 0, for RWD gf = 0 and gr = 1, and for AWD gf = 1 and gr = 1
Enter 1 for rear wheel drive or AWD, gr 1
Enter 1 for front wheel drive or AWD, gf 1
2 wheels
Option 1: Nice and easy slow drive over the step contact
Normal force between a rear wheel and the ground, FNr/2 (N) 180.2
Minimum required coefficient of friction, mumin2, mumin1 0.25
Normal force between a front wheel and the step FNf/2 (N) 76.3
Total motor tractive effort, gm (N) 186.7
Total motor limited tractive force from from both rear wheels, Frwmax (N) 93.3
Total motor limited tractive force from from both front wheels, Ffwmax (N) 93.3
Total friction limited tractive effort, gmu (N) 205.1
Total friction limited tractive force from from both rear wheels before slip, Frwmumax (N) 144.1
Total friction limited tractive force from from both rear wheels before slip, Ffwmumax (N) 61.0
Total minimum tractive effort required, gmin (N) 126.19
 Total tractive effort required by both rear wheels, FTr (N) 88.66
Total tractive effort required by both front wheels, FTf (N) 37.52
Step Climable?
Can the machine climb over the step? yes
Option 2: Ramming speed!
Ideal forward velocity required to get over the step, v (mm/s) 700
D potential energy on top of step, DPE (N-m) 12.25

Equations

Two front wheels contact step One front wheel contacts step
Rh h 2 R  h  F X  0    r F Nr    f F Nf cos   F Nf sin  2
cos   sin  
 A   2 
R R
 
2
 C A r  B  C
2
 B A
F X  0    r F Nr    f F Nf cos   F Nf sin 

f r f r f

2 r  f AS
F Y  0  F Nr  mg  F Nf cos     f F Nf sin 
mgA mgB
M  0   F Nr  L w  R sin    mg  L cg  R sin   F Nr  F Nf 
L w  RS  L w  RS  C   f S
Let: A  L cg  R sin  B  L w  L cg S  sin  C  cos 
 2 r  f AS   C  A r  B  f   SB
   A 
2
 C A r  B  f C
2
r  B f
 4 r  f AB S 2

2 r  f AS
mgA mgB
F Nr  F Nf 
L w  RS  L w  RS  C   f S 
NOTE, in order for Excel to deal with the limit if  f  0 or
 r  0, in the expression for  , set  f   f  1e  6 and  r   r  1e  6
 hcg

FNf

0.84 CT 0.6666667 ST 0.745356

A 555.9017 B 200

1 wheel
contact
180.2
0.13
84.6
186.7
93.333333
93.333333
211.8
144.1
67.7
70.59
 48.03
22.56

yes

tacts step
   f F Nf cos   F Nf sin  2

  A   2 
2
2
C r  B f r f AB S 2
2 r  f AS
mgB
F Nf 
 L w  RS  C   f S 